/*
 *  Simbad - Robot Simulator
 *  Copyright (C) 2004 Louis Hugues
 *
 *  This program is free software; you can redistribute it and/or modify
 *  it under the terms of the GNU General Public License as published by
 *  the Free Software Foundation; either version 2 of the License, or
 *  (at your option) any later version.
 *
 *  This program is distributed in the hope that it will be useful, 
 *  but WITHOUT ANY WARRANTY; without even the implied warranty of
 *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 *  GNU General Public License for more details.
 *
 *  You should have received a copy of the GNU General Public License
 *  along with this program; if not, write to the Free Software
 *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
 *
 -----------------------------------------------------------------------------
 * $Author: sioulseuguh $ 
 * $Date: 2005/03/17 17:49:37 $
 * $Revision: 1.3 $
 * $Source: /cvsroot/simbad/src/simbad/sim/DefaultKinematic.java,v $
 */

package simbad.sim;

import java.text.DecimalFormat;

import javax.media.j3d.Transform3D;
import javax.vecmath.Vector3d;

/**
 * This is the standard kinematic with two control parameters : translation and
 * rotation. Each agent use this kinematic by default.
 */
public class DefaultKinematic extends KinematicModel {

	/** Translational velocity in meters per second. */
	private double translationalVelocity;
	/** Rotational velocity in radians per second */
	private double rotationalVelocity;

	DefaultKinematic() {
		reset();
	}

	/** Resets all control parameters to their initial values. */
	@Override
	protected void reset() {
		rotationalVelocity = 0;
		translationalVelocity = 0;
	}

	/**
	 * Compute instant translation and rotation vectors .
	 * 
	 * @param elapsedSecond
	 *            time elapsed
	 * @param rotation
	 *            current rotation
	 * @param instantTranslation
	 *            to store translation
	 * @param instantRotation
	 *            to store rotation
	 */

	@Override
	protected void update(double elapsedSecond, Transform3D rotation, Vector3d instantTranslation, Vector3d instantRotation) {

		instantTranslation.set(translationalVelocity * elapsedSecond, 0.0, 0.0);
		// apply current rotation (on y axis)
		rotation.transform(instantTranslation);

		// perform rotation - on y axis
		instantRotation.set(0, elapsedSecond * rotationalVelocity, 0);

	}

	/**
	 * Sets rotational velocity in radians per second.
	 */
	public final void setRotationalVelocity(double rv) {
		rotationalVelocity = rv;
	}

	/**
	 * Sets translational velocity in meter per second.
	 */
	public final void setTranslationalVelocity(double tv) {
		translationalVelocity = tv;
	}

	/**
	 * Gets rotational velocity in radians per second
	 */
	public final double getRotationalVelocity() {
		return rotationalVelocity;
	}

	/**
	 * Gets translational velocity in meter per second.
	 */
	public final double getTranslationalVelocity() {
		return translationalVelocity;
	}

	/** Resets all control parameters to their initial values. */
	@Override
	protected String toString(DecimalFormat format) {
		return "kinematic \t= DefaultKinematic\n" + "rotVelocity   \t= " + format.format(rotationalVelocity) + " rad/s\n" + "transVelocity \t= " + format.format(translationalVelocity) + " m/s\n";
	}
}
